When you are doing the total relaxation, are you feeling an urge to move your legs/feet? If so, don't. Your brain sends these signals to your body to see if your awake. If you resist, they will fade and you will begin to lucid dream! (Maybe) Also, to help with this stuff of being antsy, I suggest you try meditation. It doesn't have to be spiritual, I just do it to relax, prepare for lucid dreaming, and clear my mind. This is good practice because if your actually doing a LD, you might get excited. Meditation lets you easily relax and shit.
Dream on. LDs~32